Needle steering system using duty-cycled rotation for percutaneous kidney access - Robotics Institute Carnegie Mellon University

Needle steering system using duty-cycled rotation for percutaneous kidney access

Nathan Wood, Khaled Shahrour, Michael C. Ost, and Cameron Riviere
Conference Paper, Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10), pp. 5432 - 5435, September, 2010

Abstract

The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.

BibTeX

@conference{Wood-2010-10535,
author = {Nathan Wood and Khaled Shahrour and Michael C. Ost and Cameron Riviere},
title = {Needle steering system using duty-cycled rotation for percutaneous kidney access},
booktitle = {Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10)},
year = {2010},
month = {September},
pages = {5432 - 5435},
keywords = {surgery, medical robotics, needle steering, urology, kidney, access},
}